GitHub - yangyuancsi/Altitude-control: The altitude control of an UAV is made by the combination of an extended Kalman filter (EKF) estimator and a cascade proportional-integral-derivative (PID) controller that is designed appropriately for the noise characteristics of low accuracy sensors. The proposed terrain-following is tested by both simulations and real-world experiments. The results indicate that the quadrotor can continuously navigate and avoid obstacles at a real-time response of reliable height control with the adjustment time of the cascade PID controller improving over 50% than that of the PID controller.

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The altitude control of an UAV is made by the combination of an extended Kalman filter (EKF) estimator and a cascade proportional-integral-derivative (PID) controller that is designed appropriately for the noise characteristics of low accuracy sensors. The proposed terrain-following is tested by both simulations and real-world experiments. The …